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Install Ros2 Foxy

Posted 2022-03-28 Updated 2022-03-30 4 min read

ROS 2 Foxy 설치 및 환경 설정 (Ubuntu 20.04 Focal Fossa)

1. ROS 2 Foxy 설치

  • locale 설정

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      $ sudo apt update && sudo apt install locales
  $ sudo locale-gen en_US en_US.UTF-8
  $ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
  $ export LANG=en_US.UTF-8

  • ROS 2 Key 다운로드 및 ROS 2 저장소 추가

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      $ sudo apt update && sudo apt install curl gnupg2 lsb-release -y
  $ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
  $ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

  • ROS 2 Foxy Desktop 및 Fast RTPS, Cyclone DDS, 그리고 유용한 패키지들 설치

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      $ sudo apt update
  $ sudo apt install ros-foxy-desktop ros-foxy-rmw-fastrtps* ros-foxy-rmw-cyclonedds*

  # Install additional useful packages
  $ sudo apt install ros-foxy-rqt* ros-foxy-image-view ros-foxy-navigation2 ros-foxy-nav2-bringup ros-foxy-joint-state-publisher-gui ros-foxy-xacro

  • 설치된 ROS 2 환경 설정 등록

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      $ source /opt/ros/foxy/setup.bash

2. ROS 개발 툴 패키지 설치

  • 추가적으로 ROS 개발시 필요한 툴 패키지 설치

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      $ sudo apt update && sudo apt install -y \
    build-essential \
    cmake \
    git \
    libbullet-dev \
    python3-colcon-common-extensions \
    python3-flake8 \
    python3-pip \
    python3-pytest-cov \
    python3-rosdep \
    python3-setuptools \
    python3-vcstool \
    wget \
    gpg

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      # install some pip packages needed for testing
  $ python3 -m pip install -U \
    argcomplete \
    flake8-blind-except \
    flake8-builtins \
    flake8-class-newline \
    flake8-comprehensions \
    flake8-deprecated \
    flake8-docstrings \
    flake8-import-order \
    flake8-quotes \
    pytest-repeat \
    pytest-rerunfailures \
    pytest

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      # install Fast-RTPS and Cyclone DDS dependencies
  $ sudo apt install --no-install-recommends -y \
    libasio-dev \
    libtinyxml2-dev \
    libcunit1-dev

3. 유용한 환경변수 및 alias를 bashrc 에 설정 추가하기

  • Add some alias and environment path in bashrc file Bashrc 에 유용한 환경변수와 alias를 추가하여 ros 명령어들을 편하게 사용 할 수 있도록 설정

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      $ sudo gedit ~/.bashrc

    Bashrc File (~/.bashrc)

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    # Add some variables in bashrc file
# ROS 2 Setup
source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash
  
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
source /usr/share/vcstool-completion/vcs.bash
source /usr/share/colcon_cd/function/colcon_cd.sh
export _colcon_cd_root=~/ros2_ws
  
export ROS_DOMAIN_ID=7
export ROS_NAMESPACE=robot1
  
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
# export RMW_IMPLEMENTATION=rmw_connext_cpp
# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# export RMW_IMPLEMENTATION=rmw_gurumdds_cpp
  
# export RCUTILS_CONSOLE_OUTPUT_FORMAT='[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})'
export RCUTILS_CONSOLE_OUTPUT_FORMAT='[{severity}]: {message}'
export RCUTILS_COLORIZED_OUTPUT=1
export RCUTILS_LOGGING_USE_STDOUT=0
export RCUTILS_LOGGING_BUFFERED_STREAM=1
  
# Alias Setting
alias cw='cd ~/ros2_ws'
alias cs='cd ~/ros2_ws/src'
alias ccd='colcon_cd'
  
alias cb='cd ~/ros2_ws&& colcon build --symlink-install'
alias cbs='colcon build --symlink-install'
alias cbp='colcon build --symlink-install --packages-select'
alias cbu='colcon build --symlink-install --packages-up-to'
alias ct='colcon test'
alias ctp='colcon test --packages-select'
alias ctr='colcon test-result'
  
alias rt='ros2 topic list'
alias re='ros2 topic echo'
alias rn='ros2 node list'
  
alias killgazebo='killall -9 gazebo & killall -9 gzserver  & killall -9 gzclient'
  
alias af='ament_flake8'
alias ac='ament_cpplint'
  
alias testpub='ros2 run demo_nodes_cpp talker'
alias testsub='ros2 run demo_nodes_cpp listener'
alias testpubimg='ros2 run image_tools cam2image'
alias testsubimg='ros2 run image_tools showimage'

4. Colcon Build 테스트

  • 빌드를 위한 워크스페이스 폴더를 생성 (폴더명은 자유롭게 변경가능(ros2_ws))

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      $ mkdir -p ~/ros2_ws/src
  $ cd ~/ros2_ws
  • Colcon 빌드 테스트를 위해 ros2 example 코드를 clone
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      $ source /opt/ros/foxy/setup.bash
  $ cd ~/ros2_ws/src
  $ git clone https://github.com/ros2/examples
  $ cd examples
  $ git checkout $ROS_DISTRO

  • Colcon 빌드를 수행

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      $ cd ~/ros2_ws
  $ colcon build --symlink-install

5. 간단한 ROS 2 Node 테스트

  • 기본적인 node 테스트를 통해 설치한 ROS 2 가 정상 작동하는지 확인

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      # Run Publisher
  $ ros2 run demo_nodes_cpp talker
    
  # Run Subscriber
  $ ros2 run demo_nodes_py listener
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